噪声与振动控制2016，Vol.36Issue(6)：26-37,50,13.DOI:10.3969/j.issn.1006-1335.2016.06.006
新型恒力末端执行机构力学特性研究
Study on the Mechanical Characteristics of a Novel Constant-force End Effector
摘要
Abstract
Using parallel connection of an axially compressed beam and a linear spring, a novel constant-force end effector is presented. First of all, a transverse force-displacement relationship for the axially compressed beam is derived. Then, a combined dynamic model including the axially compressed beam, the linear spring and a damper, is built. Finally, based on the dynamic model, the influence of some key design parameters on the performance of the constant-force end effector is studied. It is assumed that the constant-force end effector is excited by a typical semi-sinusoidal impact load when it operating in an unknown environment. Then the dynamic equations of the constant-force end effector are solved by using fourth-order Runge-Kutta method. The numerical results exhibit that the value of the output amplitude and the available range of the constant force can be adjusted by changing the values of the axial compression load and the free length of the beam. In addition, the compressive force for the linear spring also can exert some effect on the dynamic performance of the constant-force end effector. The duration of impact pulse and the system damping can also influence the amplitude of the dynamic output force and the attenuation time for the responses of the constant-force end effector.关键词
振动与波/恒力/末端执行机构/受载变形梁/力学特性Key words
vibration and wave/constant force/end effector/axially compressed beam/mechanical characteristics分类
机械制造引用本文复制引用
刘海平,孙鹏飞,从强,史文华,王耀兵..新型恒力末端执行机构力学特性研究[J].噪声与振动控制,2016,36(6):26-37,50,13.基金项目
国家自然科学基金资助项目（51405014）；总体设计部青年创新发展基金 （）
